The RAPT Control Method for Nonlinear Systems

[+] Author and Article Information
T. W. Long, C. K. Carrington

Department of Mechanical Engineering, University of South Carolina, Columbia, SC 28208

J. Dyn. Sys., Meas., Control 113(4), 736-741 (Dec 01, 1991) (6 pages) doi:10.1115/1.2896483 History: Received October 01, 1988; Online March 17, 2008


The Rapid Advancement Preview Tracking (RAPT) control method uses both a nonlinear system model and a linearized system model to provide a form of feedback/preview control for nonlinear systems. It uses measurements of the states to calculate the current preview control signal from a local linearization of the state equations, and then iteratively calculates a perturbation correction for that control using the nonlinear equations. The corrected control signal is then applied to the system, driving the end-effector to the next position along a specified trajectory. Computer simulations of tracking control for two-link planar manipulators indicate that this algorithm may be fast enough for real-time control.

Copyright © 1991 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In